Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models

Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high temporal rates, there is often insufficient time to resolve contact between geometrically complex objects. We propose a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU based, and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object, and a signed-distance field for the other. This model is related to the Voxmap Pointshell Method (VPS), but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts. We demonstrate that stable haptic interactions can be achieved by point-sampling offset surfaces to input "polygon soup" geometry using particle repulsion. We i...

• Type: Journal
• Year: 2008
• Where: TOH
• Authors: Jernej Barbic, Doug L. James
• Keywords: 6-DoF Force-feedback Rendering, Contact Forces, Deformable 3D Objects, TOH 2008